/********************************************************************************
 * Copyright 2017 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "WorkCellCalibration.hpp"

#include <rw/models/SerialDevice.hpp>

using namespace rw::math;
using namespace rw::common;
using namespace rw::models;
using namespace rw::kinematics;
using namespace rwlibs::calibration;

WorkCellCalibration::WorkCellCalibration ()
{}

WorkCellCalibration::~WorkCellCalibration ()
{}

void WorkCellCalibration::addCalibration (Calibration::Ptr calibration)
{
    _calibrations.push_back (calibration);
}

void WorkCellCalibration::doApply ()
{
    for (Calibration::Ptr calib : _calibrations) {
        calib->apply ();
    }
}

void WorkCellCalibration::doRevert ()
{
    for (Calibration::Ptr calib : _calibrations) {
        calib->revert ();
    }
}

const std::vector< Calibration::Ptr >& WorkCellCalibration::getCalibrations () const
{
    return _calibrations;
}